VLMs Can Describe, But Not Measure: Object-Centric Scene Understanding for Robotic Manipulation

Abstract:Robotic operation in previously unseen environments requires both semantic understanding and reliable metric information. While vision--language models (VLMs) provide strong semantic capabilities, their geometric estimates remain less reliable. In this paper, we propose a VLM-driven, modular perception framework for scene understanding using off-the-shelf approaches. Starting from a single RGB-D observation, the scene is segmented into object-level regions, annotated by a VLM, and grounded with depth information to construct a task-independent object-centric representation. Experiments on 151 tabletop scenes show that the proposed decomposition preserves strong semantic performance while substantially improving localization and depth estimation over direct VLM inference. The resulting representation is also integrated with a task-planning framework for robotic execution.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2609.28184 [cs.RO]

(or arXiv:2609.28184v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.28184 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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